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working pdu2handler

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This commit is contained in:
Jakob Meier
2020-12-20 17:35:03 +01:00
parent 23fd408e08
commit c9fbd2c048
11 changed files with 113 additions and 67 deletions
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64
bsp_linux/comIF/CspComIF.cpp
View File

@ -21,40 +21,42 @@ ReturnValue_t CspComIF::initializeInterface(CookieIF *cookie) {
if(cspCookie == nullptr) {
return NULLPOINTER;
}
char* canInterface = cspCookie->getCanIf();
int bitrate = cspCookie->getBitrate();
/* Define the memory to allocate for the CSP stack */
int buf_count = 10;
int buf_size = 300;
/* Init CSP and CSP buffer system */
if (csp_init(cspClientAddress) != CSP_ERR_NONE
|| csp_buffer_init(buf_count, buf_size) != CSP_ERR_NONE) {
sif::error << "Failed to init CSP\r\n" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
int promisc = 0; // Set filter mode on
csp_iface_t *csp_if_ptr = &csp_if;
csp_if_ptr = csp_can_socketcan_init(canInterface, bitrate, promisc);
/* Perform CAN and CSP initialization only once */
if(cspDeviceMap.empty()){
/* Define the memory to allocate for the CSP stack */
int buf_count = 10;
int buf_size = 300;
/* Init CSP and CSP buffer system */
if (csp_init(cspClientAddress) != CSP_ERR_NONE
|| csp_buffer_init(buf_count, buf_size) != CSP_ERR_NONE) {
sif::error << "Failed to init CSP\r\n" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
/* Set default route and start router */
uint8_t address = CSP_DEFAULT_ROUTE;
uint8_t netmask = 0;
uint8_t mac = CSP_NODE_MAC;
int result = csp_rtable_set(address, netmask, csp_if_ptr, mac);
if(result != CSP_ERR_NONE){
sif::error << "Failed to add can interface to router table"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
int promisc = 0; // Set filter mode on
csp_iface_t *csp_if_ptr = &csp_if;
csp_if_ptr = csp_can_socketcan_init(canInterface, bitrate, promisc);
/* Start the route task */
unsigned int task_stack_size = 500;
unsigned int priority = 0;
result = csp_route_start_task(task_stack_size, priority);
if(result != CSP_ERR_NONE){
sif::error << "Failed to start csp route task" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
/* Set default route and start router */
uint8_t address = CSP_DEFAULT_ROUTE;
uint8_t netmask = 0;
uint8_t mac = CSP_NODE_MAC;
int result = csp_rtable_set(address, netmask, csp_if_ptr, mac);
if(result != CSP_ERR_NONE){
sif::error << "Failed to add can interface to router table"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
/* Start the route task */
unsigned int task_stack_size = 500;
unsigned int priority = 0;
result = csp_route_start_task(task_stack_size, priority);
if(result != CSP_ERR_NONE){
sif::error << "Failed to start csp route task" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t cspAddress = cspCookie->getCspAddress();

11
bsp_linux/comIF/CspComIF.h
View File

@ -10,10 +10,10 @@
#include <unordered_map>
/**
* @brief This class is serves as the communication interface to devices
* supporting the CSP protocol. For now as physical interface only
* CAN is supported by this CSP implementation.
* @author Jakob Meier
* @brief This class serves as the communication interface to devices
* supporting the CSP protocol. As physical layer can0 is used
* in this implementation.
* @author J. Meier
*/
class CspComIF: public DeviceCommunicationIF, public SystemObject {
public:
@ -70,6 +70,9 @@ private:
/* Interface struct for csp protocol stack */
csp_iface_t csp_if;
char canInterface[5] = "can0";
int bitrate = 1000;
/**
* @brief Function to extract the csp port and the query size from the
* command buffer.

8
bsp_linux/comIF/cookies/CspCookie.cpp
View File

@ -14,11 +14,3 @@ uint16_t CspCookie::getMaxReplyLength(){
uint8_t CspCookie::getCspAddress(){
return cspAddress;
}
char* CspCookie::getCanIf(){
return canInterface;
}
int CspCookie::getBitrate(){
return bitrate;
}

4
bsp_linux/comIF/cookies/CspCookie.h
View File

@ -17,15 +17,11 @@ public:
uint16_t getMaxReplyLength();
uint8_t getCspAddress();
char* getCanIf();
int getBitrate();
private:
uint16_t maxReplyLength;
char canInterface[5] = "can0";
uint8_t cspAddress;
int bitrate = 1000;
};
#endif /* BSP_LINUX_COMIF_COOKIES_CSPCOOKIE_H_ */